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reorganized loading trajectories and objects, added loading feature numbers for objects (the set of features grouped as one moving object
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Wed, 25 Jul 2012 22:06:51 -0400
parents 8ab76b95ee72
children f7872d15a6cc
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1 #! /usr/bin/env python
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2 # -*- coding: utf-8 -*-
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3 '''Various utilities to save and load data'''
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4
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5 import utils
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6 import moving
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8 __metaclass__ = type
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10
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11 ngsimUserTypes = {'twowheels':1,
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12 'car':2,
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13 'truck':3}
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14
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15 #########################
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16 # txt files
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17 #########################
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20
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21 #########################
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22 # Sqlite
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23 #########################
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24
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25 def writeTrajectoriesToSqlite(objects, outFile, trajectoryType, objectNumbers = -1):
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26 """
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27 This function writers trajectories to a specified sqlite file
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28 @param[in] objects -> a list of trajectories
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29 @param[in] trajectoryType -
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30 @param[out] outFile -> the .sqlite file containting the written objects
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31 @param[in] objectNumber : number of objects loaded
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32 """
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33
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34 import sqlite3
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35 connection = sqlite3.connect(outFile)
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36 cursor = connection.cursor()
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37
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38 schema = "CREATE TABLE \"positions\"(trajectory_id INTEGER,frame_number INTEGER, x_coordinate REAL, y_coordinate REAL, PRIMARY KEY(trajectory_id, frame_number))"
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39 cursor.execute(schema)
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40
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41 trajectory_id = 0
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42 frame_number = 0
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43 if trajectoryType == 'feature':
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44 if type(objectNumbers) == int and objectNumbers == -1:
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45 for trajectory in objects:
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46 trajectory_id += 1
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47 frame_number = 0
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48 for position in trajectory.getPositions():
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49 frame_number += 1
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50 query = "insert into positions (trajectory_id, frame_number, x_coordinate, y_coordinate) values (?,?,?,?)"
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51 cursor.execute(query,(trajectory_id,frame_number,position.x,position.y))
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52
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53 connection.commit()
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54 connection.close()
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55
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56 def loadPrototypeMatchIndexesFromSqlite(filename):
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57 """
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58 This function loads the prototypes table in the database of name <filename>.
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59 It returns a list of tuples representing matching ids : [(prototype_id, matched_trajectory_id),...]
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60 """
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61 matched_indexes = []
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62
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63 import sqlite3
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64 connection = sqlite3.connect(filename)
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65 cursor = connection.cursor()
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66
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67 try:
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68 cursor.execute('SELECT * from prototypes order by prototype_id, trajectory_id_matched')
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69 except sqlite3.OperationalError as err:
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70 print('DB Error: {0}'.format(err))
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71 return []
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73 for row in cursor:
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74 matched_indexes.append((row[0],row[1]))
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75
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76 connection.close()
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77 return matched_indexes
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78
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79 def getTrajectoryIdQuery(objectNumbers, trajectoryType):
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80 if trajectoryType == 'feature':
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81 statementBeginning = ' where trajectory_id'
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82 elif trajectoryType == 'object':
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83 statementBeginning = ' and OF.object_id'
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84 else:
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85 print('no trajectory type was chosen')
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86
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87 if type(objectNumbers) == int:
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88 if objectNumbers == -1:
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89 query = ''
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90 else:
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91 query = statementBeginning+' between 0 and {0}'.format(objectNumbers)
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92 elif type(objectNumbers) == list:
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93 query = statementBeginning+' in ('+', '.join([str(n) for n in objectNumbers])+')'
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94 return query
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95
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96 def loadTrajectoriesFromTable(connection, tableName, trajectoryType, objectNumbers = -1):
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97 '''Loads trajectories (in the general sense) from the given table
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98 can be positions or velocities
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99
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100 returns a moving object'''
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101 import sqlite3
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102
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103 cursor = connection.cursor()
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104
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105 try:
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106 if trajectoryType == 'feature':
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107 trajectoryIdQuery = getTrajectoryIdQuery(objectNumbers, trajectoryType)
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108 cursor.execute('SELECT * from '+tableName+trajectoryIdQuery+' order by trajectory_id, frame_number')
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109 elif trajectoryType == 'object':
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110 objectIdQuery = getTrajectoryIdQuery(objectNumbers, trajectoryType)
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111 cursor.execute('SELECT OF.object_id, P.frame_number, avg(P.x_coordinate), avg(P.y_coordinate) from '+tableName+' P, objects_features OF where P.trajectory_id = OF.trajectory_id '+objectIdQuery+' group by object_id, frame_number')
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112 else:
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113 print('no trajectory type was chosen')
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114 except sqlite3.OperationalError as err:
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115 print('DB Error: {0}'.format(err))
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116 return []
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117
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118 objId = -1
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119 obj = None
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120 objects = []
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121 for row in cursor:
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122 if row[0] != objId:
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123 objId = row[0]
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124 if obj:
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125 objects.append(obj)
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126 obj = moving.MovingObject(row[0], timeInterval = moving.TimeInterval(row[1], row[1]), positions = moving.Trajectory([[row[2]],[row[3]]]))
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127 else:
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128 obj.timeInterval.last = row[1]
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129 obj.positions.addPositionXY(row[2],row[3])
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130
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131 if obj:
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132 objects.append(obj)
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133
239
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134 return objects
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135
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136 def loadTrajectoriesFromSqlite(filename, trajectoryType, objectNumbers = -1):
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137 '''Loads nObjects or the indices in objectNumbers from the database
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138 TODO: load feature numbers and not average feature trajectories
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139 TODO: other ways of averaging trajectories (load all points, sorted by frame_number and leave the agregation to be done in python)
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140 '''
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141 import sqlite3
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142
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143 connection = sqlite3.connect(filename) # add test if it open
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144
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145 objects = loadTrajectoriesFromTable(connection, 'positions', trajectoryType, objectNumbers)
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146 objectVelocities = loadTrajectoriesFromTable(connection, 'velocities', trajectoryType, objectNumbers)
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147
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148 if len(objectVelocities) > 0:
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149 for o,v in zip(objects, objectVelocities):
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150 if o.num == v.num:
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151 o.velocities = v.positions
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152 else:
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153 print('Could not match positions {0} with velocities {1}'.format(o.num, v.num))
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154
263
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155 if trajectoryType == 'object':
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156 cursor = connection.cursor()
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157 try:
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158 objectIdQuery = getTrajectoryIdQuery(objectNumbers, trajectoryType)
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159 cursor.execute('SELECT P.trajectory_id, OF.object_id from positions P, objects_features OF where P.trajectory_id = OF.trajectory_id '+objectIdQuery+' group by P.trajectory_id order by OF.object_id')
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160
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161 # attribute feature numbers to objects
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162 objId = -1
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163 featureNumbers = {}
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164 for row in cursor:
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165 if row[1] != objId:
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166 objId = row[1]
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167 featureNumbers[objId] = [row[0]]
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168 else:
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169 featureNumbers[objId].append(row[0])
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170
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171 for obj in objects:
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172 obj.featureNumbers = featureNumbers[obj.num]
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173 except sqlite3.OperationalError as err:
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174 print('DB Error: {0}'.format(err))
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175 return []
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176
143
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177 connection.close()
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178 return objects
0
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179
235
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180 def removeObjectsFromSqlite(filename):
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181 'Removes the objects and object_features tables in the filename'
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182 import sqlite3
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183 connection = sqlite3.connect(filename)
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184 utils.dropTables(connection, ['objects', 'objects_features'])
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185 connection.close()
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186
173
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187 def loadTrajectoriesFromNgsimFile(filename, nObjects = -1, sequenceNum = -1):
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188 '''Reads data from the trajectory data provided by NGSIM project
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189 and returns the list of Feature objects'''
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190 objects = []
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191
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192 input = utils.openCheck(filename)
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193 if not input:
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194 import sys
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195 sys.exit()
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196
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197 def createObject(numbers):
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198 firstFrameNum = int(numbers[1])
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199 # do the geometry and usertype
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200
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201 firstFrameNum = int(numbers[1])
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202 lastFrameNum = firstFrameNum+int(numbers[2])-1
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203 #time = moving.TimeInterval(firstFrameNum, firstFrameNum+int(numbers[2])-1)
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204 obj = moving.MovingObject(num = int(numbers[0]),
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205 timeInterval = moving.TimeInterval(firstFrameNum, lastFrameNum),
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206 positions = moving.Trajectory([[float(numbers[6])],[float(numbers[7])]]),
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207 userType = int(numbers[10]))
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208 obj.userType = int(numbers[10])
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209 obj.laneNums = [int(numbers[13])]
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210 obj.precedingVehicles = [int(numbers[14])] # lead vehicle (before)
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211 obj.followingVehicles = [int(numbers[15])] # following vehicle (after)
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212 obj.spaceHeadways = [float(numbers[16])] # feet
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213 obj.timeHeadways = [float(numbers[17])] # seconds
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214 obj.curvilinearPositions = moving.Trajectory([[float(numbers[5])],[float(numbers[4])]]) # X is the longitudinal coordinate
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215 obj.speeds = [float(numbers[11])]
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216 obj.size = [float(numbers[8]), float(numbers[9])] # 8 lengh, 9 width # TODO: temporary, should use a geometry object
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217 return obj
0
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218
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219 numbers = input.readline().strip().split()
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220 if (len(numbers) > 0):
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221 obj = createObject(numbers)
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222
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223 for line in input:
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224 numbers = line.strip().split()
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225 if obj.num != int(numbers[0]):
0
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226 # check and adapt the length to deal with issues in NGSIM data
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227 if (obj.length() != obj.positions.length()):
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228 print 'length pb with object %s (%d,%d)' % (obj.num,obj.length(),obj.positions.length())
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229 obj.last = obj.getFirstInstant()+obj.positions.length()-1
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230 #obj.velocities = utils.computeVelocities(f.positions) # compare norm to speeds ?
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231 objects.append(obj)
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232 if (nObjects>0) and (len(objects)>=nObjects):
0
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233 break
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234 obj = createObject(numbers)
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235 else:
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236 obj.positions.addPositionXY(float(numbers[6]), float(numbers[7]))
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237 obj.curvilinearPositions.addPositionXY(float(numbers[5]), float(numbers[4]))
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238 obj.speeds.append(float(numbers[11]))
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239 obj.laneNums.append(int(numbers[13]))
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240 obj.precedingVehicles.append(int(numbers[14]))
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241 obj.followingVehicles.append(int(numbers[15]))
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242 obj.spaceHeadways.append(float(numbers[16]))
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243 obj.timeHeadways.append(float(numbers[17]))
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244
72
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245 if (obj.size[0] != float(numbers[8])):
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246 print 'changed length obj %d' % (f.num)
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247 if (obj.size[1] != float(numbers[9])):
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248 print 'changed width obj %d' % (f.num)
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249
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250 input.close()
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251 return objects
0
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252
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253 def convertNgsimFile(inFile, outFile, append = False, nObjects = -1, sequenceNum = 0):
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254 '''Reads data from the trajectory data provided by NGSIM project
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255 and converts to our current format.'''
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256 if append:
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257 out = open(outFile,'a')
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258 else:
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259 out = open(outFile,'w')
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260 nObjectsPerType = [0,0,0]
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261
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262 features = loadNgsimFile(inFile, sequenceNum)
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263 for f in features:
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264 nObjectsPerType[f.userType-1] += 1
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265 f.write(out)
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266
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267 print nObjectsPerType
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268
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269 out.close()
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270
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271 if __name__ == "__main__":
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272 import doctest
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273 import unittest
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274 suite = doctest.DocFileSuite('tests/storage.txt')
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275 unittest.TextTestRunner().run(suite)
72
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276 # #doctest.testmod()
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277 # #doctest.testfile("example.txt")